version: 66.11
glider: 166
mission: 8
dive: 77
start: 8 27 112 8 2 16
data:
$ID,166
$MISSION,8
$DIVE,77
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26463.195
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270812,075236,1912.352,12427.034,31,1.1,31,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-50.8
$GPS2,270812,080149,1912.441,12427.130,12,1.2,12,-2.3
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,177.8,153310,-13.1,-8.250
$D_GRID,5488
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-69.80,0.000,2,0.000,0.000,155,2220,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.0,-4.4,12,161,7.62,0.00,-53.90,0.000,6,0.230,0.000,2114,2214,3598,0,0,0,0,0,0,25.82,28.83,26.51
$GC,471,-0.51,-194.6,109.4,-30.5,50,476,0.00,1.48,0.00,0.000,4,0.000,0.050,2110,3164,3598,0,0,0,0,0,0,28.83,26.34,28.83
$GC,543,-0.45,-194.6,127.1,-27.1,53,549,0.12,1.40,0.00,0.000,6,0.143,0.031,2161,2194,3598,0,0,0,0,0,0,26.20,26.45,28.83
$GC,857,-0.44,-194.6,180.1,-14.5,69,863,0.00,1.50,0.00,0.000,4,0.000,0.051,2137,3170,3598,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1015,-0.43,-194.6,199.6,-13.2,76,1022,0.08,1.40,0.00,0.000,6,0.122,0.029,2182,2192,3598,0,0,0,0,0,0,26.39,26.57,28.83
$GC,1321,-0.46,-194.6,228.3,-8.4,92,1326,0.00,1.40,0.00,0.000,4,0.000,0.034,2184,1223,3598,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1358,-0.48,-194.6,230.3,-8.4,93,1365,0.00,1.42,0.00,0.000,6,0.000,0.038,2186,2183,3598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1664,-0.50,-194.6,256.4,-8.0,109,1670,0.10,1.38,0.00,0.000,4,0.096,0.031,2117,1208,3598,0,0,0,0,0,0,26.68,26.61,28.83
$GC,1737,-0.50,-194.6,264.4,-11.6,112,1743,0.15,1.48,0.00,0.000,6,0.151,0.038,2142,2201,3598,0,0,0,0,0,0,26.44,26.60,28.83
$GC,2052,-0.50,-194.6,299.3,-10.8,128,2057,0.00,1.50,0.00,0.000,4,0.000,0.052,2125,3214,3597,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2104,-0.50,-194.6,303.8,-10.6,130,2109,0.00,1.45,0.00,0.000,6,0.000,0.029,2128,2195,3596,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2416,-0.50,-194.6,335.6,-8.8,146,2422,0.00,1.38,0.00,0.000,4,0.000,0.034,2124,1233,3594,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2522,-0.51,-194.6,345.2,-9.5,151,2528,0.05,1.42,0.00,0.000,6,0.138,0.040,2151,2195,3594,0,0,0,0,0,0,26.48,26.64,28.83
$GC,2847,-0.53,-194.6,366.2,-6.0,167,2852,0.00,1.50,0.00,0.000,4,0.000,0.054,2145,3202,3591,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2894,-0.55,-194.6,368.9,-6.1,169,2900,0.00,1.42,0.00,0.000,6,0.000,0.031,2145,2206,3591,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3213,-0.57,-194.6,390.6,-7.0,185,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2205,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3515,-0.60,-194.6,410.9,-6.7,200,3520,0.00,1.42,0.00,0.000,4,0.000,0.035,2145,1226,3586,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3552,-0.62,-194.6,412.7,-6.8,201,3560,0.00,1.45,0.00,0.000,6,0.000,0.041,2138,2195,3585,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3858,-0.64,-194.6,437.9,-8.4,217,3864,0.10,1.50,0.00,0.000,4,0.099,0.052,2063,3193,3583,0,0,0,0,0,0,26.73,26.60,28.83
$GC,3912,-0.65,-194.6,443.1,-9.9,219,3918,0.08,1.42,0.00,0.000,6,0.132,0.031,2099,2203,3582,0,0,0,0,0,0,26.48,26.70,28.83
$GC,4225,-0.65,-194.6,477.1,-10.3,235,4230,0.00,1.42,0.00,0.000,4,0.000,0.036,2099,1222,3580,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4344,-0.65,-194.6,487.2,-9.7,240,4351,0.00,1.48,0.00,0.000,6,0.000,0.043,2094,2206,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4648,-0.65,-194.6,519.3,-9.7,256,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2206,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4950,-0.65,-194.6,548.0,-9.6,271,4955,0.00,1.45,0.00,0.000,4,0.000,0.038,2095,1221,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4987,-0.65,-194.6,550.5,-9.8,272,4994,0.00,1.48,0.00,0.000,6,0.000,0.044,2088,2198,3575,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5293,-0.65,-194.6,582.2,-10.1,288,5299,0.00,1.42,0.00,0.000,4,0.000,0.038,2087,1230,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5336,-0.65,-194.6,586.8,-10.3,290,5342,0.00,1.48,0.00,0.000,6,0.000,0.045,2081,2201,3572,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5661,-0.65,-194.6,620.3,-10.2,303,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2201,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.65,-194.6,647.8,-9.1,313,5964,0.00,1.45,0.00,0.000,4,0.000,0.040,2080,1222,3566,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6031,-0.65,-194.6,653.6,-9.1,315,6037,0.00,1.48,0.00,0.000,6,0.000,0.047,2073,2194,3566,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6355,-0.65,-194.6,685.0,-9.4,326,6360,0.00,1.50,0.00,0.000,4,0.000,0.060,2066,3186,3563,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6387,-0.65,-194.6,688.2,-9.4,327,6394,0.08,1.45,0.00,0.000,6,0.132,0.035,2103,2200,3563,0,0,0,0,0,0,26.44,26.67,28.83
$GC,6722,-0.66,-194.6,713.8,-7.4,338,6728,0.00,1.50,0.00,0.000,4,0.000,0.061,2098,3182,3561,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6751,-0.68,-194.6,713.8,-7.4,338,6758,0.00,1.42,0.00,0.000,6,0.000,0.034,2097,2205,3560,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7058,-0.69,-194.6,739.1,-7.4,349,7064,0.00,1.45,0.00,0.000,4,0.000,0.041,2097,1223,3558,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7102,-0.70,-194.6,741.8,-7.3,350,7108,0.00,1.48,0.00,0.000,6,0.000,0.047,2090,2194,3558,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7428,-0.71,-194.6,765.3,-6.8,361,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2194,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,-0.72,-194.6,788.5,-8.2,371,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2194,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,-0.73,-194.6,815.6,-9.2,381,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2194,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8326,-0.74,-194.6,842.7,-8.8,391,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2194,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8627,-0.75,-194.6,866.5,-7.7,401,8632,0.00,1.52,0.00,0.000,4,0.000,0.064,2084,3182,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8664,-0.76,-194.6,869.2,-7.7,402,8670,0.00,1.45,0.00,0.000,6,0.000,0.037,2084,2201,3549,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8994,-0.77,-194.6,896.2,-8.0,413,9000,0.00,1.45,0.00,0.000,4,0.000,0.044,2083,1221,3548,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9043,-0.77,-194.6,899.1,-8.0,414,9049,0.00,1.50,0.00,0.000,6,0.000,0.051,2077,2222,3548,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9361,-0.77,-194.6,926.8,-8.3,425,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2223,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,-0.78,-194.6,951.3,-8.3,435,9668,0.00,1.50,0.00,0.000,4,0.000,0.045,2076,1197,3545,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9777,-0.79,-194.6,959.4,-8.6,438,9782,0.00,1.52,0.00,0.000,6,0.000,0.053,2069,2212,3545,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10090,-0.79,-194.6,988.9,-9.1,449,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2212,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10117,begin apogee
$GC,10123,-0.19,0.0,991.6,-9.1,450,10295,0.52,0.00,164.62,1.115,6,0.125,0.000,2243,2062,2802,0,0,0,0,0,0,26.31,28.83,24.22
$STATE,10296,end apogee,CONTROL_FINISHED_OK
$STATE,10296,begin climb
$GC,10299,0.58,194.6,997.9,0.0,455,10491,0.73,1.73,181.43,1.052,4,0.079,0.065,2501,3054,2000,0,0,0,0,0,0,25.04,24.60,23.94
$GC,10545,0.54,194.6,982.8,9.5,464,10550,0.00,1.55,0.00,0.000,6,0.000,0.040,2508,2081,1989,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10880,0.51,194.6,945.9,11.0,475,10886,0.12,1.55,0.00,0.000,4,0.177,0.061,2487,3060,1985,0,0,0,0,0,0,25.75,25.85,28.83
$GC,10933,0.48,194.6,942.4,10.7,476,10939,0.00,1.50,0.00,0.000,6,0.000,0.039,2491,2050,1985,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11248,0.47,194.6,912.5,8.9,487,11253,0.00,1.60,0.00,0.000,4,0.000,0.063,2490,3065,1983,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11290,0.45,194.6,909.3,9.0,488,11296,0.15,1.50,0.00,0.000,6,0.171,0.038,2457,2041,1983,0,0,0,0,0,0,25.98,26.20,28.83
$GC,11616,0.47,237.8,885.2,7.0,499,11662,0.00,1.62,40.38,1.020,4,0.000,0.058,2454,3056,1824,0,0,0,0,0,0,28.83,25.55,24.87
$GC,11736,0.47,267.6,876.2,7.4,503,11779,0.00,1.52,38.30,0.814,6,0.000,0.037,2458,2042,1711,0,0,0,0,0,0,28.83,25.82,24.75
$GC,12097,0.48,283.7,848.4,7.8,515,12127,0.00,1.70,19.90,0.883,4,0.000,0.060,2458,3062,1641,0,0,0,0,0,0,28.83,25.67,25.06
$GC,12214,0.48,285.2,840.6,8.2,518,12220,0.00,1.50,0.00,0.000,6,0.000,0.037,2463,2050,1635,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12521,0.48,299.3,814.1,7.8,529,12550,0.00,1.67,19.65,0.897,4,0.000,0.059,2466,3063,1577,0,0,0,0,0,0,28.83,25.79,25.18
$GC,12618,0.49,304.9,806.7,8.1,532,12625,0.00,1.50,1.45,0.203,6,0.000,0.037,2470,2052,1555,0,0,0,0,0,0,28.83,25.96,25.75
$GC,12948,0.50,348.9,782.2,7.0,543,13027,0.00,1.62,72.65,0.786,4,0.000,0.056,2473,3057,1377,0,0,0,0,0,0,28.83,25.27,24.70
$GC,13094,0.52,376.7,772.9,7.5,547,13139,0.00,1.50,38.12,0.789,6,0.000,0.037,2479,2059,1262,0,0,0,0,0,0,28.83,25.64,24.64
$GC,13462,0.53,376.7,740.4,8.4,560,13467,0.00,1.60,0.00,0.000,4,0.000,0.059,2478,3073,1254,0,0,0,0,0,0,28.83,25.93,28.83
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$GC,16846,0.64,442.7,444.8,8.1,700,16852,0.00,1.67,1.70,0.189,4,0.000,0.056,2500,3070,994,0,0,0,0,0,0,28.83,26.01,25.82
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$STATE,21347,end climb,SURFACE_DEPTH_REACHED
$STATE,21347,begin surface coast
$FINISH,1.8,1.021565
$STATE,21363,end surface coast,CONTROL_FINISHED_OK
$STATE,21363,begin surface
$SM_CCo,21443,0.00,0.000,0,0,452,576.70
$SM_GC,1.90,6.62,1.30,0.00,0.030,0.032,0.000,156,2191,452,-6.70,1.75,576.70,0,0,0,0,0,0,26.55,26.56,28.83
$IRIDIUM_FIX,1909.23,12428.28,270812,010155
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.11
$INTERNAL_PRESSURE,9.56316
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,7740384
$24V_AH,23.9,18.979
$10V_AH,10.1,13.225
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.325,131.500,802.975,0.000,0.000,26.639,43.333,265.106,0.000,0.000,13.197,3136.234,14722.843,931.324,2774.714,418.822,0.000,2296.735,0.000,2347.108,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,68.085,1114.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.584,0.000,0.000,0.000
$MEM,329212
$DATA_FILE_SIZE,36681,949
$CAP_FILE_SIZE,241367,0
$CFSIZE,260165632,245579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,352.1,1
$GPS,270812,140059,1909.815,12428.111,37,1.1,41,-2.3